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Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics

Krug, Robert and Bekiroglu, Yasemin and Roa Garzon, Máximo Alejandro (2017) Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics. In: IEEE International Conference on Robotics and Automation ICRA, pp. 1595-1600. IEEE. 2017 IEEE International Conference on Robotics and Automation (ICRA), May 29 - June 3 2017, Singapore. ISBN 978-1-5090-4632-4

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Abstract

Wrench-based quality metrics play an important role in many applications such as grasp planning or grasp success prediction. In this work, we study the following discrepancy which is frequently overlooked in practice: the quality metrics are commonly computed under the assumption of sum-magnitude bounded contact forces, but the corresponding grasps are executed by a fully actuated device where the contact forces are limited independently. By means of experiments carried out in simulation and on real hardware, we show that in this setting the values of these metrics are severely underestimated. This can lead to erroneous conclusions regarding the actual capabilities of the grasps under consideration. Our findings highlight the importance of matching the physical properties of the task and the grasping device with the chosen quality metrics.

Item URL in elib:https://elib.dlr.de/112783/
Document Type:Conference or Workshop Item (Speech)
Title:Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Krug, Robertorebro UniversityUNSPECIFIED
Bekiroglu, YaseminABBUNSPECIFIED
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Date:June 2017
Journal or Publication Title:IEEE International Conference on Robotics and Automation ICRA
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Page Range:pp. 1595-1600
Publisher:IEEE
ISBN:978-1-5090-4632-4
Status:Published
Keywords:grasp quality, grasp planning
Event Title:2017 IEEE International Conference on Robotics and Automation (ICRA)
Event Location:Singapore
Event Type:international Conference
Event Dates:May 29 - June 3 2017
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:17 Jul 2017 13:09
Last Modified:17 Jul 2017 13:09

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